version: 66.13
glider: 199
mission: 7
dive: 23
start: 9 24 118 15 17 31
data:
$ID,199
$MISSION,7
$DIVE,23
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,50
$D_BOOST,4
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,370
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.079999998
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53675
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031999999
$HD_B,0.012
$HD_C,2.1999999e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,7100
$TGT_DEFAULT_LON,-14430
$TGT_AUTO_DEFAULT,0
$SM_CC,653.96979
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,200
$PITCH_MAX,3900
$C_PITCH,2060
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,27
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,218
$ROLL_MAX,3771
$ROLL_DEG,40
$C_ROLL_DIVE,2650
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,11
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3166
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,1
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-160.83926
$PRESSURE_SLOPE,0.00010895507
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,883
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.6
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,1123
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0043925666
$SEABIRD_T_H,0.0006320356
$SEABIRD_T_I,2.5405934e-05
$SEABIRD_T_J,3.1033937e-06
$SEABIRD_C_G,-9.8267241
$SEABIRD_C_H,1.1324162
$SEABIRD_C_I,-0.0020002997
$SEABIRD_C_J,0.00022812413
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,240918,150720,7355.4780,-14718.2676,41,0.8,41,22.0,0.0,0.0,11,7.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-57.9
$GPS2,240918,151655,7355.4717,-14718.3340,10,0.8,10,22.0,0.0,0.0,10,8.5
$SPEED_LIMITS,0.173,0.241
$TGT_NAME,AB1
$TGT_LATLONG,7337.500,-14725.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,169.9,33465,-18.8,-10.000,-22.50,2245
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,10,-0.84,-146.0,197,2658,516,471,0.0,0.0,0,133,0.00,0.00,-121.72,0.002,16386,0.000,0.000,196,2657,2328,2355,2302,0,0,0,0,0,0,14.26,28.83,14.28
$PING,10.9,12.9,9000.0,0.00,0.00
$GC,137,-0.84,-146.0,198,2657,2356,2304,4.3,-7.2,12,185,8.65,2.22,-33.33,0.004,18724,0.470,0.215,1771,3769,3767,3808,3726,0,0,0,0,0,0,13.93,13.59,14.18
$PING,22.7,24.9,9000.0,0.00,0.00
$PING,55.1,6.1,9000.0,-0.25,0.35
$PING,76.6,81.7,9000.0,0.92,0.40
$PING,87.5,92.1,9000.0,2.78,0.95
$GC,411,-0.84,-146.0,1771,3769,3809,3721,87.5,-23.3,65,418,0.00,2.12,0.00,0.000,1030,0.000,0.147,1771,2645,3764,3807,3721,0,0,0,0,0,0,14.28,14.18,14.29
$PING,99.3,104.7,104.5,1.02,1.00
$PING,122.4,128.8,128.9,1.05,1.00
$GC,597,-0.84,-146.0,1771,2646,3808,3723,124.3,-18.7,84,602,0.00,2.25,0.00,0.000,260,0.000,0.197,1763,3767,3764,3808,3721,0,0,0,0,0,0,14.42,14.18,14.44
$PING,143.6,150.7,150.8,1.04,1.00
$GC,828,-0.84,-146.0,1763,3769,3808,3723,169.4,-18.6,130,833,0.00,2.10,0.00,0.000,1030,0.000,0.148,1763,2647,3764,3808,3721,0,0,0,0,0,0,14.38,14.28,14.40
$GC,1020,-0.84,-146.0,1763,2646,3809,3721,200.8,-16.2,150,1025,0.00,2.25,0.00,0.000,260,0.000,0.198,1755,3769,3764,3808,3721,0,0,0,0,0,0,14.52,14.27,14.53
$GC,1250,-0.84,-146.0,1753,3769,3809,3722,240.2,-16.2,196,1258,0.15,2.10,0.00,0.000,3078,0.303,0.148,1784,2641,3763,3808,3719,0,0,0,0,0,0,14.26,14.33,14.40
$GC,1455,-0.84,-146.0,1784,2643,3809,3721,265.8,-12.1,209,1461,0.00,2.25,0.00,0.000,260,0.000,0.198,1778,3770,3764,3808,3721,0,0,0,0,0,0,14.58,14.31,14.60
$GC,1686,-0.84,-146.0,1778,3771,3808,3722,295.9,-12.4,255,1691,0.00,2.08,0.00,0.000,1030,0.000,0.149,1778,2649,3764,3808,3721,0,0,0,0,0,0,14.50,14.40,14.52
$GC,1997,-0.84,-146.0,1779,2649,3809,3719,331.6,-11.3,267,2002,0.00,2.22,0.00,0.000,260,0.000,0.200,1770,3772,3764,3808,3721,0,0,0,0,0,0,14.64,14.39,14.66
$GC,2187,-0.84,-146.0,1770,3772,3809,3722,355.1,-12.7,305,2193,0.00,2.08,0.00,0.000,1030,0.000,0.148,1770,2650,3764,3808,3721,0,0,0,0,0,0,14.54,14.45,14.57
$GC,2522,-0.84,-146.0,1770,2650,3809,3721,391.7,-11.2,319,2527,0.00,2.22,0.00,0.000,260,0.000,0.200,1762,3776,3764,3808,3721,0,0,0,0,0,0,14.66,14.40,14.67
$GC,2572,-0.84,-146.0,1762,3776,3808,3721,399.3,-12.4,329,2578,0.00,2.08,0.00,0.000,1030,0.000,0.146,1761,2650,3764,3807,3721,0,0,0,0,0,0,14.54,14.44,14.56
$GC,2883,-0.84,-146.0,1762,2651,3809,3723,434.6,-11.3,341,2889,0.00,2.20,0.00,0.000,260,0.000,0.197,1753,3769,3764,3808,3721,0,0,0,0,0,0,14.62,14.38,14.64
$GC,2924,-0.84,-146.0,1754,3770,3809,3722,439.6,-12.5,349,2930,0.15,2.08,0.00,0.000,3078,0.295,0.145,1784,2649,3763,3808,3719,0,0,0,0,0,0,14.31,14.39,14.47
$GC,3247,-0.84,-146.0,1785,2651,3808,3722,472.4,-10.0,363,3252,0.00,2.22,0.00,0.000,260,0.000,0.198,1777,3771,3764,3807,3721,0,0,0,0,0,0,14.59,14.35,14.61
$GC,3317,-0.84,-146.0,1778,3771,3809,3721,480.3,-11.1,377,3323,0.00,2.10,0.00,0.000,1030,0.000,0.145,1777,2643,3766,3808,3724,0,0,0,0,0,0,14.48,14.38,14.50
$GC,3640,-0.84,-146.0,1777,2647,3808,3722,513.5,-10.3,391,3644,0.00,2.25,0.00,0.000,260,0.000,0.196,1769,3772,3764,3808,3721,0,0,0,0,0,0,14.56,14.33,14.59
$GC,3700,-0.84,-146.0,1769,3772,3809,3721,520.4,-11.5,403,3705,0.00,2.08,0.00,0.000,1030,0.000,0.143,1769,2650,3764,3808,3720,0,0,0,0,0,0,14.47,14.38,14.49
$GC,4030,-0.84,-146.0,1769,2651,3808,3722,555.9,-10.7,419,4035,0.00,2.20,0.00,0.000,260,0.000,0.196,1761,3768,3765,3809,3721,0,0,0,0,0,0,14.58,14.33,14.59
$GC,4105,-0.84,-146.0,1762,3767,3809,3721,564.6,-11.9,434,4110,0.00,2.08,0.00,0.000,1030,0.000,0.143,1761,2645,3766,3808,3725,0,0,0,0,0,0,14.47,14.38,14.48
$GC,4421,-0.84,-146.0,1761,2646,3809,3724,599.5,-11.0,447,4426,0.00,2.22,0.00,0.000,260,0.000,0.195,1753,3769,3764,3808,3721,0,0,0,0,0,0,14.57,14.34,14.59
$GC,4501,-0.84,-146.0,1753,3770,3808,3722,609.3,-12.2,463,4508,0.15,2.08,0.00,0.000,3078,0.295,0.143,1783,2647,3764,3808,3720,0,0,0,0,0,0,14.30,14.37,14.45
$GC,4815,-0.84,-146.0,1783,2648,3807,3722,640.3,-9.8,475,4820,0.00,2.20,0.00,0.000,260,0.000,0.195,1777,3766,3764,3808,3721,0,0,0,0,0,0,14.61,14.35,14.63
$GC,4856,-0.84,-146.0,1777,3767,3809,3722,644.7,-10.8,483,4861,0.00,2.05,0.00,0.000,1030,0.000,0.142,1777,2651,3764,3808,3721,0,0,0,0,0,0,14.50,14.40,14.52
$GC,5176,-0.84,-146.0,1777,2651,3808,3721,677.1,-10.0,497,5177,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,2651,3764,3808,3721,0,0,0,0,0,0,14.66,14.68,14.69
$GC,5476,-0.84,-146.0,1777,2652,3809,3722,706.9,-10.0,507,5481,0.00,2.20,0.00,0.000,260,0.000,0.196,1768,3773,3764,3808,3721,0,0,0,0,0,0,14.70,14.44,14.71
$GC,5593,-0.84,-146.0,1769,3772,3808,3721,719.5,-11.0,530,5599,0.00,2.05,0.00,0.000,1030,0.000,0.143,1768,2651,3765,3809,3721,0,0,0,0,0,0,14.59,14.49,14.62
$PING,738.5,7.4,9000.0,-0.22,0.97
$PING,750.6,7.5,9000.0,-0.24,1.00
$GC,5897,-0.84,-146.0,1768,2653,3809,3722,750.6,-10.1,541,5903,0.00,2.20,0.00,0.000,260,0.000,0.194,1760,3776,3764,3808,3721,0,0,0,0,0,0,14.71,14.46,14.73
$GC,5943,-0.84,-146.0,1760,3777,3809,3722,755.7,-11.2,550,5948,0.00,2.08,0.00,0.000,1030,0.000,0.144,1762,2642,3764,3808,3721,0,0,0,0,0,0,14.61,14.51,14.63
$PING,763.7,7.5,9000.0,0.00,0.79
$PING,776.1,7.5,9000.0,0.00,0.26
$GC,6259,-0.84,-146.0,1761,2642,3809,3721,788.5,-10.4,563,6265,0.12,2.20,0.00,0.000,2308,0.296,0.194,1783,3769,3764,3808,3721,0,0,0,0,0,0,14.45,14.48,14.57
$GC,6335,-0.84,-146.0,1783,3769,3809,3721,796.4,-10.2,578,6340,0.00,2.05,0.00,0.000,1030,0.000,0.143,1783,2646,3764,3808,3721,0,0,0,0,0,0,14.62,14.52,14.64
$GC,6650,-0.84,-146.0,1783,2645,3809,3728,826.3,-9.4,591,6651,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,2646,3764,3808,3721,0,0,0,0,0,0,14.74,14.77,14.76
$GC,6950,-0.84,-146.0,1783,2646,3809,3721,854.4,-9.4,601,6956,0.00,2.20,0.00,0.000,260,0.000,0.197,1775,3770,3764,3808,3721,0,0,0,0,0,0,14.76,14.50,14.78
$GC,7071,-0.84,-146.0,1775,3771,3809,3722,866.9,-10.3,625,7077,0.00,2.05,0.00,0.000,1030,0.000,0.145,1775,2651,3765,3808,3722,0,0,0,0,0,0,14.65,14.54,14.66
$PING,890.1,7.3,9000.0,-0.00,0.99
$GC,7402,-0.84,-146.0,1775,2653,3808,3722,898.6,-9.5,641,7408,0.00,2.20,0.00,0.000,260,0.000,0.198,1766,3776,3764,3808,3721,0,0,0,0,0,0,14.78,14.51,14.79
$PING,900.2,7.3,9000.0,-0.00,0.99
$GC,7474,-0.84,-146.0,1767,3777,3809,3722,906.0,-10.6,655,7479,0.00,2.05,0.00,0.000,1030,0.000,0.145,1766,2651,3764,3808,3721,0,0,0,0,0,0,14.65,14.56,14.67
$GC,7794,-0.84,-146.0,1767,2651,3809,3721,937.2,-9.7,669,7800,0.00,2.17,0.00,0.000,260,0.000,0.198,1758,3767,3764,3808,3721,0,0,0,0,0,0,14.78,14.52,14.80
$GC,7860,-0.84,-146.0,1759,3768,3809,3721,944.1,-10.8,682,7868,0.12,2.05,0.00,0.000,3078,0.294,0.145,1783,2644,3764,3808,3721,0,0,0,0,0,0,14.49,14.56,14.64
$GC,8190,-0.84,-146.0,1783,2644,3809,3721,973.6,-8.8,697,8196,0.00,2.20,0.00,0.000,260,0.000,0.199,1777,3770,3764,3808,3721,0,0,0,0,0,0,14.78,14.52,14.79
$GC,8251,-0.84,-146.0,1777,3771,3809,3722,979.6,-9.9,709,8258,0.00,2.05,0.00,0.000,1030,0.000,0.145,1777,2648,3764,3808,3721,0,0,0,0,0,0,14.66,14.56,14.68
$STATE,8370,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8370,begin apogee
$PING,992.1,16.0,9000.0,0.09,0.99
$GC,8376,-0.19,0.0,1777,2500,3809,3722,990.9,-9.2,718,8512,0.82,0.00,132.65,2.628,10246,0.262,0.000,1996,2498,3165,3231,3100,0,0,0,0,0,0,14.50,13.50,12.65
$STATE,8513,end apogee,CONTROL_FINISHED_OK
$STATE,8513,begin climb
$GC,8515,0.84,146.0,1996,2498,3230,3097,993.8,0.0,722,8662,1.15,2.85,134.88,2.548,10756,0.168,0.134,2334,1086,2565,2646,2484,0,0,0,0,0,0,13.48,13.26,12.47
$GC,8688,0.84,146.0,2335,1085,2647,2480,981.3,11.2,755,8693,0.00,2.88,0.00,0.000,1030,0.000,0.149,2334,2498,2562,2646,2479,0,0,0,0,0,0,13.57,13.43,13.60
$GC,9003,0.84,146.0,2334,2499,2647,2469,944.4,11.7,768,9004,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2498,2557,2647,2467,0,0,0,0,0,0,14.19,14.21,14.21
$GC,9303,0.84,146.0,2335,2499,2647,2466,909.5,11.6,778,9304,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2498,2555,2646,2465,0,0,0,0,0,0,14.38,14.39,14.39
$GC,9604,0.84,146.0,2335,2498,2647,2464,874.8,11.6,788,9605,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2498,2555,2646,2464,0,0,0,0,0,0,14.46,14.48,14.48
$GC,9903,0.84,146.0,2335,2497,2647,2463,840.3,11.4,798,9908,0.00,2.50,0.00,0.000,260,0.000,0.191,2334,3776,2554,2646,2463,0,0,0,0,0,0,14.56,14.30,14.57
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$PING,821.5,7.4,9000.0,0.05,0.78
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$SOUNDSPEED,1452.7
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